I am having the same thoughts about Dusty, as he is about 10 weeks old now he has become more confident in his footing and now tries to crawl up to my shoulder (although he cant really sit up on my shoulder by himself yet as he is still a bit unstable).
I have so far been gentle taking him off and bringing him to my chest again.
My Jardine parrot would always be on my shoulder, although he would give me a "manipulation" bite if I tried to take him off and he was still having fun with me. I dont think it was a sign of dominance at all, just a way to try and get his way.